Other Parts Discussed in Thread: TIDA-010056,
Tool/software: Code Composer Studio
Hi,
I was going through the code for sensorless control of BLDC using MSP430fr2355 as mentioned in design guide TIDA-010056. Here in design guide it is given that it can be used for sensorless application but in example code I am not able to find out which part of code runs sensorless BLDC. Can someone explain the example code so that I can use it for my application.
// Device Part Number : MSP430FR2355 // compiler : Code Composer Studio v8.3.0 // Oscillator Frequency : 24MHz, using internal DCO // PWM generation : TIMER: TB3.1 –TB.6, Clock = 25 MHz, PWM frequency set for 20kHz 20 kHz // // Position Feedback : Hall sensors signals // HA -> P3.0 // HB -> P3.1 // HC -> P3.2 * // ADC : A0 -> Speed reference from the external potentiometer/trigger // A6 -> Phase A back EMF sensing for sensorless // A5 -> Phase B back EMF sensing for sensorless // A4 -> Phase C back EMF sensing for sensorless // A7 -> DC bus voltage sensing // A8 -> Low-side DC bus current sensing // A9 -> PCB or FET temperature feedback * * //Comparator configuration for back EMF zero crossing detection : CB2/P1.2 -> IDC // COMP0.O (P2.0) – Phase A back EMF zero cross comparator // COMP1.O(P2.1) – Phase C back EMF zero cross comparator // OA1O (P1.5) - Phase C back EMF zero cross comparator. The //opamp of smart compo module is configured as a comparator * //DRV8350RS - SPI programming pins connection // P4.4 -> SCS // P4.5 -> SCLK // P4.6 -> SDO // P4.7 -> SDI * //UART communication // P4.2 -> UART RX pin // P4.3 -> UART TX pin //MCU Digital Inputs/Output // P5.4 -> Direction of motor rotation // P4.1 -> ENABLE connection for DRV8350R // P4.0 -> FAULT pin connection from DRV8350R // P2.6 -> LED output ***********************************************************************************/ //Header Files// #include "msp430fr2355.h" #include "stdint.h" #define CALTDH0CTL1_256 *((unsigned int *)0x1A36) /*****************************InstaSPIN**************************************/ #define PWM_PERIOD 600 //PWM Frequency (Hz) = 25MHz/((2*PWM_PERIOD)-1) #define MAX_DUTYCYCLE 600 //relative to PWM_PERIOD #define MIN_DUTYCYCLE 5 //relative to PWM_PERIOD #define ACCEL_RATE 100 //Ramp up time to full scale duty cycle = (Full scale duty cycle) * ACCEL_RATE * PWM_PERIOD/PWM_Frequency #define DEAD_TIME_MCU 1 // Dead time from MSP430 = DEAD_TIME* 0.0625 uS (for 16MHz clock) #define Block_Rotor_Duration 800 //Blocked_rotor shut off time (s) = Block_Rotor_Duration*30000/Timer clock frequency /*************************************program variables**********************************************/ unsigned int DC_BUS_CURRENT = 0; unsigned int DC_Bus_Voltage = 0; unsigned int SPEED_REF = 0; unsigned int Temperature_feedback = 0; unsigned int start_count = 0; unsigned int HALL_STATE = 0; unsigned int softstart_counter = 0; unsigned int CurrentDutyCycle = 100; unsigned int DIRECTION = 0 ; unsigned int FirstADC_flag = 1; unsigned int ADC_selection_flag = 1; unsigned int ADC_selection_flag_1 = 1; unsigned int Block_Rotor_Counter = 0; unsigned int Block_Rotor_Counter_1 =0; unsigned int ADC_RESULT = 0; unsigned int commutation_time = 0; unsigned int commutation_time_counter = 0; unsigned int advance_angle_time_counter = 0; unsigned int advance_angle_time = 0; unsigned int commutation_done = 0; unsigned int Previous_State = 0; unsigned int Present_State = 0; unsigned int PWM_DUTY = PWM_PERIOD; /*******************************ADC channel selection*******************************************/ #define MEASURE_SPEED \ ADCCTL0 |= ADCSHT_2 | ADCON; \ ADCCTL1 |= ADCSHP; \ ADCCTL2 &= ~ADCRES; \ ADCCTL2 |= ADCRES_2; \ ADCMCTL0 |= ADCINCH_0; \ ADCIE = ADCIE0; #define MEASURE_TEMP \ ADCCTL0 |= ADCSHT_2 | ADCON; \ ADCCTL1 |= ADCSHP; \ ADCCTL2 &= ~ADCRES; \ ADCCTL2 |= ADCRES_2; \ ADCMCTL0 |= ADCINCH_9; \ ADCIE = ADCIE0; #define MEASURE_VDC \ ADCCTL0 |= ADCSHT_2 | ADCON; \ ADCCTL1 |= ADCSHP; \ ADCCTL2 &= ~ADCRES; \ ADCCTL2 |= ADCRES_2; \ ADCMCTL0 |= ADCINCH_7; \ ADCIE = ADCIE0; #define MEASURE_IDC \ ADCCTL0 |= ADCSHT_2 | ADCON; \ ADCCTL1 |= ADCSHP; \ ADCCTL2 &= ~ADCRES; \ ADCCTL2 |= ADCRES_2; \ ADCMCTL0 |= ADCINCH_8; \ ADCIE = ADCIE0; #define MEASURE_BEMF_A \ ADCCTL0 |= ADCSHT_2 | ADCON; \ ADCCTL1 |= ADCSHP; \ ADCCTL2 &= ~ADCRES; \ ADCCTL2 |= ADCRES_2; \ ADCMCTL0 |= ADCINCH_6; \ ADCIE = ADCIE0; #define MEASURE_BEMF_B \ ADCCTL0 |= ADCSHT_2 | ADCON; \ ADCCTL1 |= ADCSHP; \ ADCCTL2 &= ~ADCRES; \ ADCCTL2 |= ADCRES_2; \ ADCMCTL0 |= ADCINCH_5; \ ADCIE = ADCIE0; #define MEASURE_BEMF_C \ ADCCTL0 |= ADCSHT_2 | ADCON; \ ADCCTL1 |= ADCSHP; \ ADCCTL2 &= ~ADCRES; \ ADCCTL2 |= ADCRES_2; \ ADCMCTL0 |= ADCINCH_4; \ ADCIE = ADCIE0; #define CONVERSION_ENABLE \ ADCCTL0 |= ADCENC | ADCSC; #define CONVERSION_DISABLE \ ADCCTL0 &= ~ADCENC; \ ADCCTL1 = 0; /*******************************END OF ADC channel selection*******************************************/ int LPM3_On = 0; void Init_Clocks (void); void init_IO (void); void init_WDT (void); void init_ADC (void); void init_TimerB (void); void Hall_State_Change_FORWARD(void); void Hall_State_Change_REVERSE(void); void A_PWM(void); void B_PWM(void); void C_PWM(void); void A_LOW(void); void B_LOW(void); void C_LOW(void); void A_Z(void); void B_Z(void); void C_Z(void); void A_HIGH(void); void B_HIGH(void); void C_HIGH(void); void main (void) { WDTCTL = WDTPW + WDTHOLD; // Stop WDT _delay_cycles(1000000); Init_Clocks (); // Initialize clocks for 25 MHz init_ADC (); init_TimerB (); init_WDT (); init_IO (); A_Z(); B_Z(); C_Z(); _delay_cycles(1000000); /******************************ENABLE for DRV8323*******************************************************/ P4OUT &= ~BIT1; _delay_cycles(2500); //100 us delay P4OUT |= BIT1; _delay_cycles(250); //10 us delay DIRECTION = (P5IN & BIT4); HALL_STATE = ((P3IN & BIT0) + (P3IN & BIT1) + (P3IN & BIT2)); while(1) { if(softstart_counter >= ACCEL_RATE) { softstart_counter = 0; if (CurrentDutyCycle < SPEED_REF) { CurrentDutyCycle ++; } else if (CurrentDutyCycle > SPEED_REF) { CurrentDutyCycle --; } if ( CurrentDutyCycle >= MAX_DUTYCYCLE) { CurrentDutyCycle = MAX_DUTYCYCLE; } else if (CurrentDutyCycle <= MIN_DUTYCYCLE) { CurrentDutyCycle = MIN_DUTYCYCLE; } } if(DIRECTION == 0) { Hall_State_Change_FORWARD(); } else { Hall_State_Change_REVERSE(); } } } //end main //WDT to restart ADC void init_WDT (void) { WDTCTL = WDT_MDLY_32; // WDT 32ms from 1MHz, SMCLK, interval timer SFRIE1 |= WDTIE; // Enable WDT interrupt } void init_TimerB (void) { TB3CTL = TBSSEL__SMCLK | MC_3 | TBCLR; // SMCLK, up_down mode, clear TBR TB3CCR0 = PWM_PERIOD; // PWM Period TB3CCR1 = PWM_PERIOD; // CCR1 PWM duty cycle TB3CCR2 = PWM_PERIOD; // CCR2 PWM duty cycle TB3CCR3 = PWM_PERIOD; // CCR3 PWM duty cycle TB3CCR4 = PWM_PERIOD; // CCR4 PWM duty cycle TB3CCR5 = PWM_PERIOD; // CCR3 PWM duty cycle TB3CCR6 = PWM_PERIOD; // CCR4 PWM duty cycle TB3CCTL1 = OUTMOD_6; // CCR1 reset/set TB3CCTL2 = OUTMOD_2; // CCR2 reset/set TB3CCTL3 = OUTMOD_6; // CCR3 reset/set TB3CCTL4 = OUTMOD_2; // CCR4 reset/set TB3CCTL5 = OUTMOD_6; // CCR4 reset/set TB3CCTL6 = OUTMOD_2; // CCR4 reset/set TB3CCTL0 |= CCIE; __bis_SR_register(GIE); // enable interrupts __no_operation(); // For debugger _EINT(); // Enable interrupts } // Clocks And Vcore void Init_Clocks (void) { FRCTL0 = FRCTLPW | NWAITS_2; __bis_SR_register(SCG0); // disable FLL CSCTL3 |= SELREF__REFOCLK; // Set REFO as FLL reference source CSCTL0 = 0; // clear DCO and MOD registers CSCTL1 |= DCORSEL_7; // Set DCO = 24MHz CSCTL2 = FLLD_0 + 731; // DCOCLKDIV = 24MHz __delay_cycles(3); __bic_SR_register(SCG0); // enable FLL while(CSCTL7 & (FLLUNLOCK0 | FLLUNLOCK1)); // FLL locked CSCTL4 = SELMS__DCOCLKDIV | SELA__REFOCLK; // set default REFO(~32768Hz) as ACLK source, ACLK = 32768Hz // default DCOCLKDIV as MCLK and SMCLK source } //IO INITIALISATION// void init_IO (void) { //Hall Sensor inputs P3SEL0 &= ~(BIT0+BIT1+BIT2); //GPIO - Hall sensors P3DIR &= ~(BIT0+BIT1+BIT2); //Inputs - Hall sensors //PWM outputs //GPIO-PWM P6DIR |= (BIT0+BIT1+BIT2+BIT3+BIT4+BIT5); //OutputPWM //Indications P2SEL0 &= ~ (BIT6); //GPIO-LED3 P2DIR |= (BIT6); //Output-LED3 //Direction Control P5SEL0 &= ~(BIT4); //GPIO - DIR P5DIR &= ~(BIT4); //Input - DIR //Enable Gate driver P4SEL0 &= ~(BIT1); //GPIO - DIR P4DIR |= (BIT1); //Input - DIR //Fault input P4SEL0 &= ~(BIT0); //GPIO - DIR P4DIR &= ~(BIT0); //Input - DIR //Enable edge interrupt for Hall sensor ports P3IES |= ((BIT0)+(BIT1)+(BIT2)); // change the hall interrupt to falling edge to detect both the edges P3IE |= (BIT0 | BIT1 | BIT2); PM5CTL0 &= ~LOCKLPM5; P3IFG &= ~(BIT0| BIT1 | BIT2); __bis_SR_register(GIE); } void init_ADC (void) { // Configure ADC12 ADCCTL0 |= ADCSHT_2 | ADCON; // ADCON, S&H=16 ADC clks ADCCTL1 |= ADCSHP; // ADCCLK = MODOSC; sampling timer ADCCTL2 &= ~ADCRES; // clear ADCRES in ADCCTL ADCCTL2 |= ADCRES_2; // 12-bit conversion results ADCMCTL0 |= ADCINCH_0; // A1 ADC input select; Vref=AVCC ADCIE |= ADCIE0; // Enable ADC conv complete interrupt } /**************************************TIMERD0.1 INTERRUPT********************************************/ // Timer B1 interrupt service routine #if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__) #pragma vector = TIMER3_B0_VECTOR __interrupt void Timer3_B0_ISR(void) #elif defined(__GNUC__) void __attribute__ ((interrupt(TIMER3_B0_VECTOR))) Timer3_B0_ISR (void) #else #error Compiler not supported! #endif { PWM_DUTY = (PWM_PERIOD - CurrentDutyCycle); TB3CCR1 = PWM_DUTY; // CCR1 PWM duty cycle TB3CCR2 = PWM_DUTY; TB3CCR3 = PWM_DUTY; // CCR1 PWM duty cycle TB3CCR4 = PWM_DUTY; TB3CCR5 = PWM_DUTY; // CCR1 PWM duty cycle TB3CCR6 = PWM_DUTY; MEASURE_SPEED CONVERSION_ENABLE softstart_counter ++; Block_Rotor_Counter_1++; if(Block_Rotor_Counter_1>=30000) { Block_Rotor_Counter++; } if (Block_Rotor_Counter > Block_Rotor_Duration) { A_Z(); B_Z(); C_Z(); _disable_interrupt (); while (1); } } /**************************************END OF TIMERD0.1 INTERRUPT********************************************/ /**************************************ADC INTERRUPT******************************************/ // ADC interrupt service routine #if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__) #pragma vector=ADC_VECTOR __interrupt void ADC_ISR(void) #elif defined(__GNUC__) void __attribute__ ((interrupt(ADC_VECTOR))) ADC_ISR (void) #else #error Compiler not supported! #endif { switch(__even_in_range(ADCIV,ADCIV_ADCIFG)) { case ADCIV_NONE: break; case ADCIV_ADCOVIFG: break; case ADCIV_ADCTOVIFG: break; case ADCIV_ADCHIIFG: break; case ADCIV_ADCLOIFG: break; case ADCIV_ADCINIFG: break; case ADCIV_ADCIFG: ADC_RESULT = ADCMEM0; SPEED_REF = (ADC_RESULT>>2); break; default: break; } } /**********************************Port 1 interrupt service routine******************************/ #if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__) #pragma vector=PORT3_VECTOR __interrupt void Port_3(void) #elif defined(__GNUC__) void __attribute__ ((interrupt(PORT3_VECTOR))) Port_3 (void) #else #error Compiler not supported! #endif { HALL_STATE = ((P3IN & BIT0) + (P3IN & BIT1) + (P3IN & BIT2)); if(DIRECTION == 0) { Hall_State_Change_FORWARD(); } else { Hall_State_Change_REVERSE(); } Block_Rotor_Counter = 0; Block_Rotor_Counter_1 =0; P3IES ^= (BIT0)+(BIT1)+(BIT2); P3IFG &= ~(BIT0| BIT1 | BIT2); } /**********************************END OF ADC INTERRUPT***************************************/ // Watchdog Timer interrupt service routine #pragma vector=WDT_VECTOR __interrupt void WDT_ISR(void) { } /**************************Commutation sequence Forward***********************************************/ void Hall_State_Change_FORWARD(void) { switch (HALL_STATE) { case 2: C_Z(); A_PWM(); B_LOW(); break; case 6: B_Z(); A_PWM(); C_LOW(); break; case 3: A_Z(); C_PWM(); B_LOW(); break; case 1: B_Z(); C_PWM(); A_LOW(); break; case 4: A_Z(); B_PWM(); C_LOW(); break; case 5: C_Z(); B_PWM(); A_LOW(); break; default: A_Z(); B_Z(); C_Z(); break; } } /**************************Commutation sequence Reverse***********************************************/ void Hall_State_Change_REVERSE(void) { switch (HALL_STATE) { case 2: C_Z(); B_PWM(); A_LOW(); break; case 6: B_Z(); C_PWM(); A_LOW(); break; case 3: A_Z(); B_PWM(); C_LOW(); break; case 1: B_Z(); A_PWM(); C_LOW(); break; case 4: A_Z(); C_PWM(); B_LOW(); break; case 5: C_Z(); A_PWM(); B_LOW(); break; default: A_Z(); B_Z(); C_Z(); break; } } /**************************Definition of PWM GPIOs***********************************************/ void A_PWM(void) { P6SEL0 |= BIT0; P6SEL0 |= BIT1; } void B_PWM(void) { P6SEL0 |= BIT2; P6SEL0 |= BIT3; } void C_PWM(void) { P6SEL0 |= BIT4; P6SEL0 |= BIT5; } void A_LOW(void) { P6SEL0 &= ~BIT0; P6OUT &= ~BIT0; P6SEL0 &= ~BIT1; P6OUT |= BIT1; } void B_LOW(void) { P6SEL0 &= ~BIT2; P6OUT &= ~BIT2; P6SEL0 &= ~BIT3; P6OUT |= BIT3; } void C_LOW(void) { P6SEL0 &= ~BIT4; P6OUT &= ~BIT4; P6SEL0 &= ~BIT5; P6OUT |= BIT5; } void A_Z(void) { P6SEL0 &= ~BIT0; P6OUT &= ~BIT0; P6SEL0 &= ~BIT1; P6OUT &= ~BIT1; } void B_Z(void) { P6SEL0 &= ~BIT2; P6OUT &= ~BIT2; P6SEL0 &= ~BIT3; P6OUT &= ~BIT3; } void C_Z(void) { P6SEL0 &= ~BIT4; P6OUT &= ~BIT4; P6SEL0 &= ~BIT5; P6OUT &= ~BIT5; } void A_HIGH(void) { P6SEL0 &= ~BIT0; P6OUT |= BIT0; P6SEL0 &= ~BIT1; P6OUT &= ~BIT1; } void B_HIGH(void) { P6SEL0 &= ~BIT2; P6OUT |= BIT2; P6SEL0 &= ~BIT3; P6OUT &= ~BIT3; } void C_HIGH(void) { P6SEL0 &= ~BIT4; P6OUT |= BIT4; P6SEL0 &= ~BIT5; P6OUT &= ~BIT5; } /**************************End****************************************************************/
